JP2008286156A - Wind power generation device and its yaw turn driving method - Google Patents

Wind power generation device and its yaw turn driving method Download PDF

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JP2008286156A
JP2008286156A JP2007133830A JP2007133830A JP2008286156A JP 2008286156 A JP2008286156 A JP 2008286156A JP 2007133830 A JP2007133830 A JP 2007133830A JP 2007133830 A JP2007133830 A JP 2007133830A JP 2008286156 A JP2008286156 A JP 2008286156A
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command value
wind turbine
around
moment
yaw
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JP4994947B2 (en
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Yoshiyuki Hayashi
義之 林
Masaaki Shibata
昌明 柴田
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Mitsubishi Heavy Industries Ltd
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Mitsubishi Heavy Industries Ltd
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Priority to JP2007133830A priority Critical patent/JP4994947B2/en
Priority to TW097116684A priority patent/TW200920940A/en
Priority to US12/517,271 priority patent/US8249754B2/en
Priority to EP08764266.6A priority patent/EP2154363B1/en
Priority to AU2008252208A priority patent/AU2008252208B2/en
Priority to CA2671408A priority patent/CA2671408C/en
Priority to KR1020097012406A priority patent/KR101039215B1/en
Priority to PCT/JP2008/058559 priority patent/WO2008143009A1/en
Priority to CN2008800015071A priority patent/CN101578450B/en
Publication of JP2008286156A publication Critical patent/JP2008286156A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D1/00—Wind motors with rotation axis substantially parallel to the air flow entering the rotor 
    • F03D1/06—Rotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0204—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor for orientation in relation to wind direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/96—Preventing, counteracting or reducing vibration or noise
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1033—Power (if explicitly mentioned)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/321—Wind directions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/331—Mechanical loads
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/80—Devices generating input signals, e.g. transducers, sensors, cameras or strain gauges
    • F05B2270/804—Optical devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Abstract

<P>PROBLEM TO BE SOLVED: To completely or partially reduce a yaw drive mechanism and reduce power consumption in a nacelle. <P>SOLUTION: This wind power generation device comprises a load measuring sensor 9 for measuring the load of each windmill blade, a moment calculating part 31 for giving coordinate conversion to the load of each windmill blade measured by the load measuring sensor 9 to calculate moment around a windmill tower shaft, a component command value setting part 32 for adding an around-yaw control command value to a reference command value for counterbalancing the moment calculated by the moment calculating part 31 to calculate an angle command value around the windmill tower shaft, and a pitch angle command value setting part 33 for setting a pitch angle command value for each windmill blade in accordance with the angle command value around the windmill tower shaft. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、風力発電装置および風力発電装置のヨー旋回駆動方法に関するものである。   The present invention relates to a wind turbine generator and a yaw turning drive method for the wind turbine generator.

風力発電装置は、風車タワーの上端に風車、及び、風車により回転駆動される発電機を有する風車発電ユニットがヨー回転可能に設けられ、風車が正面より風力を受けるよう、風向きに応じて風車発電ユニットが風車タワーに対してヨー旋回（略水平面上の旋回）するように構成されている。
上記風力発電装置においては、リングギアをタワー側に固定配置するとともに、該リングギアと噛合するピニオンを風車発電ユニット側に配置し、このピニオンをヨーモータによって回転駆動することにより、風車発電ユニットのヨー旋回駆動が行われている（例えば、特許文献１参照）。
特開２００１−２８９１４９号公報 In the wind turbine generator, a wind turbine generator unit having a wind turbine and a generator driven to rotate by the wind turbine is provided at the upper end of the wind turbine tower so as to be capable of yaw rotation. The unit is configured to perform yaw rotation (rotation on a substantially horizontal plane) with respect to the wind turbine tower.
In the wind turbine generator described above, the ring gear is fixedly disposed on the tower side, and a pinion that meshes with the ring gear is disposed on the wind turbine power generation unit side. The turning drive is performed (for example, refer patent document 1).
JP 2001-289149 A

ところで、近年、風車の大型化に伴い、上記ヨーモータやリングギア等が大型化している。ヨーモータは、ナセルのヨー旋回駆動のために頻繁に起動されるが、大型化されることにより、更なる消費電力の増大を招くこととなる。
また、ナセルの小型化・軽量化を図る場合には、上記ヨーモータ等の構成の小型化・軽量化が重要な課題となる。 By the way, in recent years, the yaw motor, the ring gear, and the like have been enlarged with the increase in the size of the windmill. The yaw motor is frequently started to drive the nacelle to rotate the yaw. However, when the yaw motor is enlarged, the power consumption is further increased.
Further, when the nacelle is reduced in size and weight, it is important to reduce the size and weight of the yaw motor and the like.

本発明は、上記問題を解決するためになされたもので、ナセル内における消費電力の低減ならびにナセルの小型化を可能とする風力発電装置および風力発電装置のヨー旋回駆動方法を提供することを目的とする。   The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a wind turbine generator and a yaw rotation drive method for the wind turbine generator that can reduce power consumption in the nacelle and reduce the size of the nacelle. And

上記課題を解決するために、本発明は以下の手段を採用する。
本発明は、各風車翼の荷重を計測する荷重計測手段と、前記荷重計測手段によって計測された各風車翼の荷重を座標変換することにより、風車タワー軸まわりのモーメントを算出するモーメント算出手段と、前記モーメント算出手段によって算出された前記モーメントを相殺するための基準指令値に対して、ヨーまわり制御指令値を加算することにより、前記風車タワー軸まわりの角度指令値を算出する成分指令値設定手段と、前記風車タワー軸まわりの角度指令値に基づいて、各風車翼のピッチ角度指令値を設定するピッチ角度指令設定部とを具備する風力発電装置を提供する。 In order to solve the above problems, the present invention employs the following means.
The present invention includes a load measuring unit that measures the load of each wind turbine blade, and a moment calculating unit that calculates a moment around the wind turbine tower axis by performing coordinate conversion on the load of each wind turbine blade measured by the load measuring unit. A component command value setting for calculating an angle command value around the windmill tower axis by adding a yaw control command value to a reference command value for canceling the moment calculated by the moment calculating means And a pitch angle command setting unit for setting a pitch angle command value of each wind turbine blade based on an angle command value around the wind turbine tower axis.

各風車翼に係る風車タワー軸まわりの荷重を相殺するための基準指令値に対して、ヨーまわり制御指令値が加算されて角度指令値が算出され、この角度指令値に基づいて各風車翼のピッチ角度指令値が設定されるので、ヨーまわり制御指令値に応じて風車翼に発生するモーメントを利用して、ナセルを風車タワー軸まわり（ヨーまわり）に旋回させることが可能となる。このように、各風車翼のピッチ角度を制御することにより、空気力を用いてナセルを旋回させるので、ヨーモータの小型化および使用頻度の低減を図ることが可能となる。この結果、ナセルの軽量化を図ることができるとともに、ヨーモータによる電力消費を抑制することが可能となる。また、ヨーモータを不要とすることも可能であり、この場合には、ナセルの更なる小型化・軽量化が可能となるとともに、電力消費の更なる低減を図ることができる。   An angle command value is calculated by adding the yaw control command value to the reference command value for canceling the load around the wind turbine tower axis related to each wind turbine blade, and based on this angle command value, each wind turbine blade Since the pitch angle command value is set, the nacelle can be turned around the windmill tower axis (yaw rotation) by using the moment generated in the windmill blade according to the yaw rotation control command value. In this way, by controlling the pitch angle of each wind turbine blade, the nacelle is turned using aerodynamic force, so that the yaw motor can be downsized and the frequency of use can be reduced. As a result, it is possible to reduce the weight of the nacelle and to suppress power consumption by the yaw motor. Further, the yaw motor can be eliminated. In this case, the nacelle can be further reduced in size and weight, and the power consumption can be further reduced.

上記風力発電装置において、前記ヨーまわり制御指令値は、風向きに応じて与えられることとしてもよい。   In the wind power generator, the yaw control command value may be given according to a wind direction.

このように、風向きに応じたヨーまわり制御指令値を与えることにより、風向きに対して適切な方向にナセルを回動させることが可能となる。   Thus, by giving the yaw control command value according to the wind direction, the nacelle can be rotated in an appropriate direction with respect to the wind direction.

上記風力発電装置において、前記ヨーまわり制御指令値は、例えば、風向偏差に基づいて設定される。   In the wind power generator, the yaw control command value is set based on, for example, a wind direction deviation.

本発明は、各風車翼の荷重をそれぞれ計測する過程と、各風車翼の荷重を座標変換することにより、風車タワー軸まわりのモーメントを算出する過程と、前記モーメントをゼロにするための基準指令値に対して、ヨーまわり制御指令値を加算することにより、前記風車タワー軸まわりの角度指令値を算出する過程と、前記風車タワー軸まわりの角度指令に基づいて、各風車翼のピッチ角度指令を設定する過程とを有する風力発電装置のヨー旋回駆動方法を提供する。   The present invention provides a process for measuring the load on each wind turbine blade, a process for calculating a moment around the wind turbine tower axis by coordinate-converting the load on each wind turbine blade, and a reference command for making the moment zero. Based on the process of calculating the angle command value around the wind turbine tower axis by adding the yaw control command value to the value, and the pitch angle command of each wind turbine blade based on the angle command around the wind turbine tower axis And a method of driving the yaw rotation of the wind turbine generator.

本発明によれば、ナセル内における消費電力の低減ならびにナセルの小型化を図ることができるという効果を奏する。   According to the present invention, it is possible to reduce the power consumption in the nacelle and reduce the size of the nacelle.

以下に、本発明に係る風力発電装置および風力発電装置のヨー旋回駆動方法の一実施形態について、図面を参照して説明する。
図１は、本実施形態に係る風力発電装置の概略構成を示したブロック図である。
図１に示されるように、風力発電装置１は、風車タワー２と、風車タワー２の上端に設置されるナセル３と、略水平な軸線まわりに回転可能にしてナセル３に設けられるロータヘッド４とを有している。ロータヘッド４には、その回転軸線まわりに放射状にして複数枚の風車翼５が取り付けられている。この結果、ロータヘッド４の回転軸線方向から風車翼５に当たった風の力が、ロータヘッド４を回転軸線まわりに回転させる動力に変換されるようになっている。なお、本実施形態では、３枚の風車翼５を備える場合について説明する。 Hereinafter, an embodiment of a wind turbine generator and a yaw turning drive method for a wind turbine generator according to the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of the wind turbine generator according to the present embodiment.
As shown in FIG. 1, the wind turbine generator 1 includes a windmill tower 2, a nacelle 3 installed at the upper end of the windmill tower 2, and a rotor head 4 provided in the nacelle 3 so as to be rotatable about a substantially horizontal axis. And have. A plurality of wind turbine blades 5 are attached to the rotor head 4 in a radial pattern around its rotational axis. As a result, the force of wind striking the wind turbine blade 5 from the direction of the rotation axis of the rotor head 4 is converted into power for rotating the rotor head 4 about the rotation axis. In the present embodiment, a case where three wind turbine blades 5 are provided will be described.

ナセル３の外周面適所（たとえば上部等）には、周辺の風速値を測定する風速計７と、風向を測定する風向計８とが設置されている。また、各風車翼５には、それぞれの風車翼５における荷重を計測するための荷重計測センサ（例えば光ファイバセンサ）９が設けられている。
上記風向計８は、風向偏差を計測し、風向偏差を計測値として出力するものである。また、荷重計測センサ９は、例えば、風車翼５の歪みを計測し、この歪み量に応じて荷重を計測するものである。 An anemometer 7 for measuring the peripheral wind speed value and an anemometer 8 for measuring the wind direction are installed at appropriate positions (for example, the upper part) of the outer surface of the nacelle 3. Each wind turbine blade 5 is provided with a load measurement sensor (for example, an optical fiber sensor) 9 for measuring a load on each wind turbine blade 5.
The anemometer 8 measures a wind direction deviation and outputs the wind direction deviation as a measured value. The load measuring sensor 9 measures, for example, the distortion of the wind turbine blade 5 and measures the load according to the amount of distortion.

ナセル３の内部には、図２に示すように、ロータヘッド４と同軸の増速機１０を介して連結された発電機１１が設置されている。すなわち、ロータヘッド４の回転を増速機１０で増速して発電機１１を駆動することにより、発電機１１より発電機出力が得られるようになっている。更に、ナセル３内部には、風車の運転制御を行う風車制御装置２０、及び風車制御装置２０からの制御信号を受けて、各風車翼のピッチ角度を変化させる可変ピッチ機構２１が設けられている。   Inside the nacelle 3, as shown in FIG. 2, a generator 11 connected to the rotor head 4 via a coaxial gearbox 10 is installed. That is, the generator output is obtained from the generator 11 by driving the generator 11 by increasing the rotation of the rotor head 4 with the gearbox 10. Further, inside the nacelle 3 are provided a windmill control device 20 that controls the operation of the windmill, and a variable pitch mechanism 21 that receives a control signal from the windmill control device 20 and changes the pitch angle of each windmill blade. .

風車制御装置２０には、各荷重計測センサ９によって計測された各風車翼５の荷重計測値、風向計８によって計測される風向偏差、並びに風速計７によって計測される風速が入力されるようになっている。風車制御装置２０は、これらの入力情報に基づいて各風車翼５のピッチ角度を設定し、設定したピッチ角度に応じた制御信号を可変ピッチ機構２１に出力する。可変ピッチ機構２１は、風車制御装置２０から与えられる制御信号に基づいて各風車翼５のピッチ角度をそれぞれ変化させる。   The wind turbine controller 20 is inputted with the load measurement value of each wind turbine blade 5 measured by each load measurement sensor 9, the wind direction deviation measured by the anemometer 8, and the wind speed measured by the anemometer 7. It has become. The wind turbine control device 20 sets the pitch angle of each wind turbine blade 5 based on the input information and outputs a control signal corresponding to the set pitch angle to the variable pitch mechanism 21. The variable pitch mechanism 21 changes the pitch angle of each wind turbine blade 5 based on a control signal given from the wind turbine control device 20.

図３は、上記風車制御装置２０が備えるピッチ角度制御に関する制御ブロックを示した図である。図３に示されるように、風車制御装置２０は、モーメント算出部３１、成分指令値設定部３２、ピッチ角度指令設定部３３、ヨーまわり制御指令値設定部３４を備えている。   FIG. 3 is a diagram showing a control block related to pitch angle control provided in the wind turbine control device 20. As shown in FIG. 3, the wind turbine controller 20 includes a moment calculator 31, a component command value setting unit 32, a pitch angle command setting unit 33, and a yaw control command value setting unit 34.

上記モーメント算出部３１は、各荷重計測センサ９によって計測された各風車翼５の荷重Ｍ１，Ｍ２，Ｍ３を座標変換することにより、図４に示されるｚ軸まわりのモーメントＭｚおよびｙ軸まわりのモーメントＭｙを算出する。図４に示されるように、ｚ軸は、風車タワー２の主軸に平行な軸線であり、ｘ軸はロータヘッド４の回転軸であり、ｙ軸はｚ軸およびｘ軸に直交する軸線である。   The moment calculation unit 31 performs coordinate conversion of the loads M1, M2, and M3 of the wind turbine blades 5 measured by the load measurement sensors 9 to thereby convert the moment Mz around the z axis and the y axis around the y axis shown in FIG. The moment My is calculated. As shown in FIG. 4, the z axis is an axis parallel to the main axis of the wind turbine tower 2, the x axis is a rotation axis of the rotor head 4, and the y axis is an axis orthogonal to the z axis and the x axis. .

モーメント算出部３１は、モーメントＭｙ，Ｍｚを算出すると、これらを成分指令値設定部３２に出力する。成分指令値設定部３２は、モーメント算出部３１によって算出されたモーメントＭｚ，Ｍｙに基づいてｙ軸に関する角度指令値θｙとｚ軸に関する角度指令値θｚとを設定する。   When calculating the moments My and Mz, the moment calculating unit 31 outputs these to the component command value setting unit 32. The component command value setting unit 32 sets the angle command value θy related to the y axis and the angle command value θz related to the z axis based on the moments Mz and My calculated by the moment calculation unit 31.

具体的には、成分指令値設定部３２は、ｙ軸まわりのモーメントＭｙを相殺する基準指令値を求め、この基準指令値をｙ軸まわりの角度指令値θｙとする。また、成分指令値設定部３２は、ｚ軸まわりのモーメントＭｚを相殺する基準指令値を求め、更に、この基準指令値に対してヨーまわり制御指令値設定部３４から入力されるヨーまわり制御指令値Ｍｚ´を加算し、この値をｚ軸まわりの角度指令値θｚ´とする。成分指令値設定部３２は、角度指令値θｙ、θｚ´をピッチ角度指令設定部３３に出力する。   Specifically, the component command value setting unit 32 obtains a reference command value that cancels the moment My around the y axis, and sets this reference command value as the angle command value θy around the y axis. The component command value setting unit 32 obtains a reference command value that cancels the moment Mz about the z-axis, and further, a yaw control command input from the yaw control command value setting unit 34 with respect to this reference command value. The value Mz ′ is added, and this value is set as an angle command value θz ′ around the z axis. The component command value setting unit 32 outputs the angle command values θy and θz ′ to the pitch angle command setting unit 33.

ピッチ角度指令設定部３３は、入力された角度指令値θｙ，θｚ´を座標変換することにより、各風車翼５のピッチ角度指令θ１，θ２，θ３を設定し、これらを可変ピッチ機構２１に出力する。これにより、可変ピッチ機構２１により各風車翼５のピッチ角度がピッチ角度指令θ１，θ２，θ３に基づいて変化させられる。この結果、各風車翼５における荷重が低減されるとともに、ヨーまわり制御指令値Ｍｚ´に応じた量だけ、ナセル３がｚ軸まわりに回動させられることとなる。   The pitch angle command setting unit 33 converts the input angle command values θy and θz ′ to set the pitch angle commands θ1, θ2 and θ3 of each wind turbine blade 5 and outputs them to the variable pitch mechanism 21. To do. As a result, the pitch angle of each wind turbine blade 5 is changed by the variable pitch mechanism 21 based on the pitch angle commands θ1, θ2, and θ3. As a result, the load on each wind turbine blade 5 is reduced, and the nacelle 3 is rotated about the z axis by an amount corresponding to the yaw control command value Mz ′.

次に、上述したヨーまわり制御指令値設定部３４について図５を参照して説明する。図５は、ヨーまわり制御指令値設定部３４により実行される処理の手順を示したフローチャートである。なお、図５に示される処理は、所定時間間隔で繰り返し実行されるものとする。   Next, the above-described yaw control command value setting unit 34 will be described with reference to FIG. FIG. 5 is a flowchart showing a procedure of processing executed by the yaw control command value setting unit 34. Note that the processing shown in FIG. 5 is repeatedly executed at predetermined time intervals.

ヨーまわり制御指令値設定部３４は、風向計８から入力される風向偏差の過去所定期間の平均を算出する（ステップＳＡ１）。続いて、ステップＳＡ１において算出した平均風向偏差が予め設定されている閾値よりも大きいか否かを判定する。この結果、平均風向偏差が閾値以下であった場合には、ナセル３が風向に対して好ましい方向を向いていると判断し、ナセル３のヨー旋回駆動を行わずに、当該処理を終了する。   The yaw rotation control command value setting unit 34 calculates the average of the wind direction deviation input from the anemometer 8 in the past predetermined period (step SA1). Subsequently, it is determined whether or not the average wind direction deviation calculated in step SA1 is larger than a preset threshold value. As a result, when the average wind direction deviation is equal to or less than the threshold value, it is determined that the nacelle 3 is in a preferable direction with respect to the wind direction, and the processing is terminated without performing the yaw turning drive of the nacelle 3.

一方、平均風向偏差が閾値を超えていた場合には、ナセル３が風向に対して最適な方向とされていないと判断し、ステップＳＡ３において、ヨーまわり設定指令値を設定する。具体的には、ヨーまわり制御指令値設定部３４は、予め保有しているヨーまわり制御指令値テーブルを参照し、ステップＳＡ１において算出された平均風向偏差と風速計７から入力される風速とで特定されるヨーまわり制御指令値を取得する。図６にヨーまわり制御指令値テーブルの一例を示す。図６に示されるように、ヨーまわり制御指令値テーブルには、風速と平均風向偏差との組に対応付けられてヨーまわり制御指令値がそれぞれ設定されている。ヨーまわり制御指設定部３４は、取得したヨーまわり制御指令値を成分指令値設定部３２に出力する。   On the other hand, if the average wind direction deviation exceeds the threshold value, it is determined that the nacelle 3 is not in the optimum direction with respect to the wind direction, and a yaw rotation setting command value is set in step SA3. Specifically, the yaw control command value setting unit 34 refers to the yaw control command value table stored in advance, and calculates the average wind direction deviation calculated in step SA1 and the wind speed input from the anemometer 7. Get the specified yaw control command value. FIG. 6 shows an example of the yaw rotation control command value table. As shown in FIG. 6, the yaw control command value is set in the yaw control command value table in association with a set of wind speed and average wind direction deviation. The yaw control finger setting unit 34 outputs the acquired yaw control command value to the component command value setting unit 32.

これにより、風速と風向と応じて設定されたヨーまわり制御指令値がｚ軸まわりの基準指令値に対して加算されることで、ヨーまわり制御指令値に応じた量だけ、ナセル３をｚ軸まわりに旋回させることが可能となる。   Thereby, the yaw control command value set according to the wind speed and the wind direction is added to the reference command value around the z axis, so that the nacelle 3 is moved to the z axis by an amount corresponding to the yaw control command value. It is possible to swivel around.

以上、説明してきたように、本実施形態に係る風力発電装置１によれば、ヨーまわり制御指令値Ｍｚ´に応じた量のモーメントを各風車翼５に発生させ、このモーメントを利用してナセル３を風車タワー２の主軸まわりに旋回させることが可能となる。このように、各風車翼５のピッチ角度を制御することにより、空気力を利用してナセル３を旋回させるので、ナセル３内に配置されているヨーモータ（図示略）の小型化を図ることが可能となる。また、ヨーモータの使用頻度を低減させることが可能となり、消費出力の低減を図ることが可能となる。   As described above, according to the wind turbine generator 1 according to the present embodiment, a moment of an amount corresponding to the yaw rotation control command value Mz ′ is generated in each wind turbine blade 5, and the nacelle is utilized using this moment. 3 can be turned around the main axis of the wind turbine tower 2. In this way, by controlling the pitch angle of each wind turbine blade 5, the nacelle 3 is turned using aerodynamic force, so that the yaw motor (not shown) arranged in the nacelle 3 can be downsized. It becomes possible. In addition, the frequency of use of the yaw motor can be reduced, and the consumption output can be reduced.

なお、上述した実施形態においては、ヨーまわり制御指令値設定部３４が、ヨーまわり制御指令値テーブルからヨーまわり制御指令値を取得することとしたが、これに代えて、平均風向偏差と風速とをパラメータとした演算式をヨーまわり制御指令値設定部３が有しており、この演算式に平均風向偏差および風速を代入することにより、ヨーまわり制御指令値を得ることとしてもよい。   In the above-described embodiment, the yaw rotation control command value setting unit 34 acquires the yaw rotation control command value from the yaw rotation control command value table, but instead of this, the average wind direction deviation and the wind speed are obtained. The yaw control command value setting unit 3 has an arithmetic expression using as a parameter, and the yaw control command value may be obtained by substituting the average wind direction deviation and the wind speed into this arithmetic expression.

以上、本発明の実施形態について図面を参照して詳述してきたが、具体的な構成はこの実施形態に限られるものではなく、本発明の要旨を逸脱しない範囲の設計変更等も含まれる。   As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the specific structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

本発明の一実施形態に係る風力発電装置の全体構成例を示す図である。It is a figure showing the example of whole composition of the wind power generator concerning one embodiment of the present invention. ナセル内の概略構成を示した図である。It is the figure which showed schematic structure in the nacelle. 本発明の一実施形態に係る風車制御装置が備えるピッチ角度制御に関する制御ブロックを示した図である。It is the figure which showed the control block regarding the pitch angle control with which the windmill control apparatus which concerns on one Embodiment of this invention is provided. ｚ，ｙ，ｚ軸の定義を説明するための図である。It is a figure for demonstrating the definition of z, y, z-axis. 本発明の一実施形態に係るヨーまわり制御指令値設定部により実行される処理の手順を示したフローチャートである。It is the flowchart which showed the procedure of the process performed by the yaw control control command value setting part which concerns on one Embodiment of this invention. ヨーまわり制御指令値テーブルの一例を示した図である。It is the figure which showed an example of the yaw circumference control command value table.

符号の説明Explanation of symbols

１ 風力発電装置
２ 風車タワー
３ ナセル
４ ロータヘッド
５ 風車翼
７ 風速計
８ 風向計
９ 荷重計測センサ
１０ 増速機
１１ 発電機
２０ 風車制御装置
２１ 可変ピッチ
３１ モーメント算出部
３２ 成分指令値設定部
３３ ピッチ角度指令設定部
３４ ヨーまわり制御指令値設定部 DESCRIPTION OF SYMBOLS 1 Wind power generator 2 Windmill tower 3 Nacelle 4 Rotor head 5 Windmill blade 7 Anemometer 8 Anemometer 9 Load measuring sensor 10 Speed up gear 11 Generator 20 Windmill controller 21 Variable pitch 31 Moment calculation part 32 Component command value setting part 33 Pitch angle command setting unit 34 Yaw rotation control command value setting unit

Claims (4)

各風車翼の荷重を計測する荷重計測手段と、
前記荷重計測手段によって計測された各風車翼の荷重を座標変換することにより、風車タワー軸まわりのモーメントを算出するモーメント算出手段と、
前記モーメント算出手段によって算出された前記モーメントを相殺するための基準指令値に対して、ヨーまわり制御指令値を加算することにより、前記風車タワー軸まわりの角度指令値を算出する成分指令値設定手段と、
前記風車タワー軸まわりの角度指令値に基づいて、各風車翼のピッチ角度指令値を設定するピッチ角度指令設定部と
を具備する風力発電装置。 Load measuring means for measuring the load of each wind turbine blade,
Moment calculating means for calculating the moment around the wind turbine tower axis by converting the coordinates of the load of each wind turbine blade measured by the load measuring means;
Component command value setting means for calculating an angle command value around the windmill tower axis by adding a yaw control command value to a reference command value for canceling out the moment calculated by the moment calculation means When,
A wind power generator comprising: a pitch angle command setting unit that sets a pitch angle command value for each wind turbine blade based on an angle command value around the wind turbine tower axis. 前記ヨーまわり制御指令値は、風向きに応じて与えられる請求項１に記載の風力発電装置。   The wind power generator according to claim 1, wherein the yaw control command value is given according to a wind direction. 前記ヨーまわり制御指令値は、風向偏差に基づいて設定される請求項１に記載の風力発電装置。   The wind power generator according to claim 1, wherein the yaw control command value is set based on a wind direction deviation. 各風車翼の荷重をそれぞれ計測する過程と、
各風車翼の荷重を座標変換することにより、風車タワー軸まわりのモーメントを算出する過程と、
前記モーメントをゼロにするための基準指令値に対して、タワー軸まわり制御指令値を加算することにより、前記風車タワー軸まわりの角度指令値を算出する過程と、
前記風車タワー軸まわりの角度指令値に基づいて、各風車翼のピッチ角度指令値を設定する過程と
を有する風力発電装置のヨー旋回駆動方法。 The process of measuring the load on each wind turbine blade,
The process of calculating the moment around the windmill tower axis by transforming the load of each windmill blade,
A step of calculating an angle command value around the wind turbine tower axis by adding a control command value around the tower axis to a reference command value for making the moment zero;
A method of driving a yaw rotation of a wind turbine generator, comprising: setting a pitch angle command value of each wind turbine blade based on an angle command value around the wind turbine tower axis.
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EP08764266.6A EP2154363B1 (en) 2007-05-21 2008-05-08 Wind-driven generator and yaw rotation drive method for wind-driven generator
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